CN217624048U

CN217624048U - Bionic robot fish

Info

Publication number: CN217624048U
Application number: CN202221111542.2U
Authority: CN
Inventors: 陈逸生; 胡应龙; 薛玉锋; 余卓楠; 周学龙
Original assignee: Shenzhen University
Current assignee: Shenzhen University
Priority date: 2022-05-10
Filing date: 2022-05-10
Publication date: 2022-10-21
Anticipated expiration: 2032-05-10

Abstract

The utility model discloses a bionic machine fish, include: the first flow battery pack is used for driving the fishtail to swing; the first flow battery comprises: two first battery cells and a first micro pump for reciprocating the electrolyte in the two first battery cells between the two first battery cells; the two first battery units are respectively arranged on two sides of the interior of the fishtail; and the microcontroller is used for controlling the operation of the micro pump. Through embedding the redox flow battery into the tail part of the bionic robot fish, the design that the fish tail is independently a left part and a right part can generate pressure difference to drive the robot fish to move, thereby avoiding the dead point problem existing in the traditional connecting rod mechanism, reducing the loss caused by the use of various complex mechanisms and improving the energy density of the bionic fish.

Description

Bionic robot fish

Technical Field

The utility model relates to a simulation machine technical field especially relates to a bionical machine fish.

Background

The traditional mechanical propeller is mostly adopted in the existing robotic fish, the existing robotic fish is large in size, heavy in mass and high in energy consumption, and meanwhile, the existing robotic fish is accompanied by large noise and tail eddy current. In addition, the robotic fish is generally difficult to operate underwater for long periods of time due to the presence of multiple motors inside and the large number of control elements that consume large amounts of electrical power. And because adopt mechanical propeller, the easy card dune problem that appears.

Accordingly, the prior art is yet to be improved and developed.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned prior art not enough, the utility model aims to provide a bionic machine fish solves among the prior art bionic machine fish and leads to bulky because of adopting mechanical propeller, the easy problem that the card went up that appears.

The technical scheme of the utility model as follows:

the utility model provides a bionic machine fish, including fish body, dorsal fin, respectively with two pectoral fins, two ventral fins and the fish tail of fish body swing joint, wherein, still include:

the first flow battery pack is used for driving the fishtail to swing;

the first flow battery comprises: two first battery cells and a first micro pump for reciprocating the electrolyte in the two first battery cells between the two first battery cells; the two first battery units are respectively arranged on two sides of the interior of the fishtail; and

and the microcontroller is used for controlling the operation of the first micro pump.

Optionally, the biomimetic robotic fish, wherein the biomimetic robotic fish further comprises: the second flow battery pack is used for driving the pectoral fins to swing; the second flow battery group includes: two second battery cells and a second micro pump for reciprocating the electrolyte in the two second battery cells between the two second battery cells; the two second battery units are respectively arranged in the two pectoral fins; the second micro-pump is electrically connected with the micro-controller.

Optionally, the biomimetic robotic fish, wherein the biomimetic robotic fish further comprises: a third flow battery disposed within the dorsal fin.

Optionally, the biomimetic robotic fish, wherein said biomimetic robotic fish further comprises: a fourth flow battery disposed within the ventral fin; the first flow battery pack is connected with the second flow battery pack, the third flow battery and the fourth flow battery in parallel.

Optionally, the biomimetic robotic fish, wherein said biomimetic robotic fish further comprises: the device comprises a boosting module and a Bluetooth module for communicating with an external terminal; the Bluetooth module is electrically connected with the microcontroller, and the boosting module is used for boosting voltage and then supplying power to the microcontroller.

Optionally, the biomimetic robotic fish, wherein the first battery unit comprises a housing, a cation exchange membrane disposed inside the housing, a zinc iodide solution on both sides of the cation exchange membrane, a cathode and an anode; the cathode and the anode are flexible electrodes.

Optionally, the biomimetic robotic fish, wherein said anode comprises: graphite felt and a plurality of nickel wires woven on the graphite felt.

Optionally, the biomimetic robotic fish, wherein the cathode comprises: graphite felt and a plurality of strands of stainless steel wire woven onto the graphite felt.

Optionally, the biomimetic robotic fish, wherein the fish body comprises: the micro-pump comprises a first shell and a second shell, wherein the first shell and the second shell are buckled to form an accommodating cavity, and a power supply, a first micro-pump and a micro-controller are all fixed in the accommodating cavity; the micropump is respectively connected with the positive electrode regions of the first battery unit and the second battery unit through hoses.

Optionally, the biomimetic robotic fish, wherein the fish body is provided with a plurality of slots, and the dorsal fin and the fish tail are provided with clamping portions adapted to the corresponding slots.

Has the beneficial effects that: compared with the prior art, the utility model provides a pair of bionic machine fish, afterbody through embedding the redox flow battery to bionic machine fish not only can provide electric power support for motor and control element when the redox flow battery operation, can produce the pressure differential with the independent design of controlling two parts of fish tail simultaneously and order about the movement of machine fish to avoid the "dead point" problem that traditional link mechanism exists, reduced the loss because of the use of various complicated mechanisms brings, improved bionic fish's energy density.

Drawings

FIG. 1 is a perspective view of a biomimetic robotic fish of the present invention;

FIG. 2 is a schematic view of the internal structure of the bionic robotic fish of the present invention;

fig. 3 is a schematic structural diagram of a flow battery pack according to the present invention.

The reference numbers in the figures: 10. a fish body; 20. a dorsal fin; 30. a pectoral fin; 40. ventral fins; 50. fish tail; 60. a first flow battery; 601. a first flow cell unit; 602. a first micro pump; 603. an anode; 604. a cathode; 605. a cation exchange membrane; 70. a second flow battery; 701. a second micro pump; 702. a power source; 703. a microcontroller; 704. a Bluetooth module; 705. a boost module; 706. a double-pole double-throw relay; 707. and a control panel.

Detailed Description

The utility model provides a bionic machine fish, for making the utility model discloses a purpose, technical scheme and effect are clearer, clear and definite, and it is right that the following refers to the attached drawing and lifts the example the utility model discloses further detailed description. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1 to 3, the present embodiment provides a biomimetic robotic fish, including: the first flow battery pack 60 is arranged inside the fish tail 70, the first flow battery pack 60 comprises two first battery units 601 and a first micro pump 602, electrolyte in the two first battery units 601 can be moved between the two first battery units 601 through the micro pump, and a power supply 702 and a micro controller 703 are fixed inside the fish body 10. The power source 702 may be a lithium ion battery, and a microcontroller (Arduino microcontroller) 703 is used to control the start and operation mode of the micro pump.

Illustratively, the mold for the fin and body 10 may be designed by SolidWorks and 3D printed using a veratrile material. After printing, a release agent is sprayed on the mold in advance and is evenly coated, after waiting for 5 minutes, the flexible material and organic silica gel (Dragon skin 20) are mixed, degassed, poured into the mold, and leveled before being cured overnight. And demolding and finishing the edge area after the silica gel is sufficiently cooled and shaped. The shell for forming the fish body 10, the fins and the fish tail 70 is obtained, and it is easy to understand that the shell of the bionic robot fish is formed by combining two parts. The outer side of the shell of the fishtail 70 is also provided with square grooves which are linearly arranged, and the shell of the fishtail 70 is also provided with supporting materials. The flexible fishtail 70 is supported and restrained by the support material, and the swinging of the fishtail 70 is facilitated by the linear arrangement of the square grooves.

In this embodiment, the first battery unit 601 includes: an outer housing (not shown) which may be square or otherwise shaped, within which is disposed a cation exchange membrane 605, which cation exchange membrane 605 may be (Nafion 115), on both sides of which cation exchange membrane 605 is disposed a cathode 604 and an anode 603. The anode 603 may be a graphite felt cut into a certain shape as required, and a plurality of nickel wires are woven therein for current collection, while the cathode 604 felt is made of stainless steel conductive wires to resist oxidation of triiodide in the electrolyte of the cathode 604, and is sealed with silicone epoxy resin to prevent the anode 603 and the cathode 604 from contacting with the electrolyte. After the cells were assembled, the cells were checked for hermeticity, and a quantity of zinc iodide electrolyte was placed in the area of the anode 603 and a quantity of zinc iodide catholyte was placed in the area of the cathode 604 in one of the cells, and the fill hole was also sealed with silicone epoxy. Meanwhile, the areas where the two cathodes 604 are located are communicated through a flexible hose, a first electrolyte inlet and outlet 606 and a second electrolyte inlet and outlet 607 can be formed in the shell of the area where the cathodes are located, and a micro pump is arranged on the flexible pipeline. I.e. the zinc iodide catholyte may be moved between the two cells by controlling the micropump.

When assembling, the first battery unit 601 and the second battery unit are respectively disposed at both sides (opposite to each other) inside the fishtail 70, and the two parts are fastened together and then connected to the fish body 10. The micro-pump is fixed in the fish body 10 together with a hose arrangement. The fishtail 70 and the fish body 10 be connected, can be at the afterbody of fish body 10 set up the draw-in groove, set up on fishtail 70 with the joint portion of draw-in groove adaptation, with joint portion and draw-in groove joint, joint portion and draw-in groove interference fit to make fishtail 70 can take place the horizontal hunting.

It should be noted that the connection between the fish tail 70 and the fish body 10 may be in other forms as long as the fish tail 70 is connected to the fish body 10 to swing.

In this embodiment, the flow battery is charged by an external power supply, and electrogalvanizing is produced as an active material on the anode 603. The flow battery discharges to supply power for the micro pump and the micro controller 703, after the micro pump is electrified, the zinc iodide catholyte flows forward and backward between the two battery units, and the forward and backward flow of the catholyte in the inner pipeline can generate pressure difference on two sides of the fish tail 70, so that the fish tail 70 swings to drive the bionic robot fish to move. The problem of dead points existing in the traditional connecting rod mechanism is avoided, the loss caused by the use of various complex mechanisms is reduced, and the energy density of the bionic fish is improved.

In this embodiment, the dorsal fin 20, the two pectoral fins 30 and the two ventral fins 40 are also provided with flow batteries, the flow batteries inside the biomimetic fish are connected in parallel, the flow batteries connected in parallel are connected in series with a power supply, and the voltage provided by the batteries connected in series is boosted by the boosting module and then supplies power to the microcontroller, so that the output voltage and the energy density can be increased. The cruising ability of the bionic robot fish is improved.

Specifically, a second micro pump 701, a bluetooth module 704, a boosting module 705, a double-pole double-throw relay 706 and a control board 707 are arranged inside the fish body 10, a second flow battery pack 70 is arranged inside each pectoral fin 30, and a battery unit is arranged inside each pectoral fin 30, and the structure of the battery unit is the same as that of the battery unit described above. The polarity of the second micro pump 701 is alternated by the double-pole double-throw relay 706 to realize the flow of the electrolyte in the second flow battery set 70, and each pectoral fin 30 is arranged at one side close to the fish body 10, and the side wall of each pectoral fin 30 is processed into a thin silica gel surface with the thickness of 1mm, so that when enough liquid flow is filled into the side, the thin silica gel surface expands to push the pectoral fins 30 away from the fish body 10 to realize the swing. The integrated output voltage of the flow battery in the biomimetic robotic fish is boosted by the boost module 705 (e.g., 12V boost converter) to power each micro-pump and the micro-controller 703. The first micro-pump 602 and the second micro-pump 701 are connected to the micro-controller 703 through the control board 707, and the wireless bluetooth module 704 is used to remotely control the circulation of the electrolyte, thereby generating electric power and hydraulic transmission.

It is to be understood that the invention is not limited to the above-described embodiments, and that modifications and variations may be made by those skilled in the art in light of the above teachings, and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.

Claims

1. The utility model provides a bionic machine fish, including fish body, dorsal fin, respectively with two pectoral fins, two ventral fins and the fish tail of fish body swing joint, its characterized in that still includes:

the first flow battery pack is used for driving the fishtail to swing;

2. The biomimetic robotic fish of claim 1, further comprising: a second flow battery set for driving the pectoral fins to swing; the second flow battery group includes: two second battery cells and a second micro pump for reciprocating the electrolyte in the two second battery cells between the two second battery cells; the two second battery units are respectively arranged in the two pectoral fins; the second micro-pump is electrically connected with the micro-controller.

3. The biomimetic robotic fish of claim 2, further comprising: a third flow battery disposed within the dorsal fin.

4. The biomimetic robotic fish of claim 3, further comprising: a fourth flow battery disposed within the ventral fin; the first flow battery pack is connected with the second flow battery pack, the third flow battery and the fourth flow battery in parallel.

5. The biomimetic robotic fish of claim 1, further comprising: the device comprises a boosting module and a Bluetooth module for communicating with an external terminal; the Bluetooth module is electrically connected with the microcontroller, and the boosting module is used for boosting voltage and then supplying power to the microcontroller.

6. The biomimetic robotic fish of claim 1, wherein the first cell unit comprises a housing, a cation exchange membrane disposed inside the housing, a zinc iodide solution on both sides of the cation exchange membrane, a cathode and an anode; the cathode and the anode are flexible electrodes.

7. The biomimetic robotic fish of claim 6, wherein the anode comprises: graphite felt and a plurality of nickel wires woven on the graphite felt.

8. The biomimetic robotic fish of claim 6, wherein the cathode comprises: graphite felt and a plurality of stainless steel wires woven on the graphite felt.

9. The biomimetic robotic fish of claim 1, wherein the fish body comprises: the first shell and the second shell are buckled to form an accommodating cavity, and the first flow battery pack, the first micro pump and the micro controller are all fixed in the accommodating cavity; the micropump is respectively connected with the positive electrode regions of the first battery unit and the second battery unit through hoses.

10. The biomimetic robotic fish of claim 9, wherein the fish body is provided with a plurality of slots, and the dorsal fin and the fish tail are provided with clamping portions adapted to the corresponding slots.